ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-02
- Revision:
- 12:422963993df5
- Parent:
- 11:5c54826d23a7
- Child:
- 13:291ba30c7806
File content as of revision 12:422963993df5:
#include "quadcopter.h" #include "sensor.h" #include "Adafruit_9DOF.h" #include "Serial_base.h" // constructor Quadcopter::Quadcopter() { m_=1; g_=9.81; // proportional attitude control gains kp_phi_ = 1; kp_theta_ = 1; kp_psi_ = 1; // derivative attitude control gains kd_phi_ = 0; kd_theta_ = 0; kd_psi_ = 0; // desired values (will come from joystick) F_des_ = 0; // desired thrust force (excluding weight compensation) dof_ = Adafruit_9DOF(); accel_ = Adafruit_LSM303_Accel_Unified(30301); mag_ = Adafruit_LSM303_Mag_Unified(30302); gyro_ = Adafruit_L3GD20_Unified(20); } void Quadcopter::initAllSensors() { initSensors(accel_, mag_, gyro_,offsetAngRate_); // IMU } void Quadcopter::readSensorValues() { accel_.getEvent(&accel_event_); if (dof_.accelGetOrientation(&accel_event_, &orientation_)) { } /* Calculate the heading using the magnetometer */ mag_.getEvent(&mag_event_); if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) { } gyro_.getEvent(&gyro_event_); gyro_event_.gyro.x -= offsetAngRate_.x; gyro_event_.gyro.y -= offsetAngRate_.y; gyro_event_.gyro.z -= offsetAngRate_.z; // measured values (will come from IMU/parameter class/Input to function later) // angles state_.phi = orientation_.roll; state_.theta =orientation_.pitch; state_.psi =orientation_.heading; // angular velocities in body coordinate system state_.p = gyro_event_.gyro.x; state_.q = gyro_event_.gyro.y; state_.r = gyro_event_.gyro.z; } // Date member function void Quadcopter::setState(state *source, state *goal) { goal->phi = source->phi; goal->theta = source->theta; goal->psi = source->psi; goal->p = source->p; goal->q = source->q; goal->r = source->r; } void Quadcopter::print(char * myString) { pcPntr_->printf(myString); pcPntr_->printf("\n\r"); } void Quadcopter::controller() { // compute desired angles (in the case we decide not to set // the angles, but for instance the velocity with the Joystick // PD controller controlInput_.f = m_*g_ + F_des_; controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p); controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q); controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); print("Calculated Control"); //print("F: %f M_x: %f M_y: %f M_z: %f\n\r", controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz); // pc.printf("F: %f\n\r", F); } motors Quadcopter::getPwm() { //motors motorPwm_;// weired errror, should not be necessary motorPwm_.m1=0; motorPwm_.m2=0.65+controlInput_.mx/100; motorPwm_.m3=0; motorPwm_.m4=0.65-controlInput_.mx/100; return motorPwm_; }